Noetic之Cartographer环境配置及编译构建

此文档需提前安装ROS–Noetic，如若未安装，可运行以下命令进行一键安装（感谢鱼香大佬）

wget http://fishros.com/install -O fishros && . fishros

一、环境配置

1.修改/etc/hosts

sudo gedit /etc/hosts

具体ip地址自行通过ip查询网站搜索，并将ip与以下两个域名对应，添加到hosts文件中

ip raw.githubusercontent.com
ip www.github.com

2.修改sphinx版本

pip3 install sphinx==6.1.3

二、编译构建

参考[官方文档](Compiling Cartographer ROS — Cartographer ROS documentation (google-cartographer-ros.readthedocs.io))

1.安装必要的构建工具

sudo apt-get update
sudo apt-get install -y python3-wstool python3-rosdep ninja-build stow

2.设置工作区

mkdir catkin_ws
cd catkin_ws
wstool init src
wstool merge -t src https://raw.githubusercontent.com/cartographer-project/cartographer_ros/master/cartographer_ros.rosinstall
wstool update -t src

3.安装所需要的包

sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y

4.安装abseil-cpp库

bash src/cartographer/scripts/install_abseil.sh

5.编译构建

catkin_make_isolated --install --use-ninja